EP4310537A1 - Radar laser - Google Patents

Radar laser Download PDF

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Publication number
EP4310537A1
EP4310537A1 EP21939068.9A EP21939068A EP4310537A1 EP 4310537 A1 EP4310537 A1 EP 4310537A1 EP 21939068 A EP21939068 A EP 21939068A EP 4310537 A1 EP4310537 A1 EP 4310537A1
Authority
EP
European Patent Office
Prior art keywords
transmitting
lens
receiving
unit
lidar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21939068.9A
Other languages
German (de)
English (en)
Other versions
EP4310537A4 (fr
Inventor
Feng Liang
Jie Chen
Shaoqing Xiang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hesai Technology Co Ltd
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Hesai Technology Co Ltd
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Filing date
Publication date
Application filed by Hesai Technology Co Ltd filed Critical Hesai Technology Co Ltd
Publication of EP4310537A1 publication Critical patent/EP4310537A1/fr
Publication of EP4310537A4 publication Critical patent/EP4310537A4/fr
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • G01S7/4914—Circuits for detection, sampling, integration or read-out of detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/22—Telecentric objectives or lens systems

Definitions

  • the present disclosure relates to the technical field of photoelectric detection, and in particular, to a LiDAR capable of satisfying both long-range detection and short-range detection performances.
  • LiDAR is a radar system that can emit laser beams to detect the position, velocity, and other feature quantities of an object.
  • LiDAR is an advanced detection technique that combines laser technology with photoelectric detection technology. Because of its advantages such as high resolution, good concealment, strong resistance to active interference, great low-altitude detection performance, small size, and light weight, LiDAR is widely used in fields such as autonomous driving, intelligent transportation, unmanned aerial vehicles, intelligent robots, and resource exploration.
  • the first scenario is long-range and small vertical field of view (FOV) detection, which is typically required to detect objects beyond 150m at a vertical FOV of 15° to 40°. This scenario is used for fine detection of objects at medium to long range.
  • the other scenario is short-range and large vertical FOV detection, which typically covers a detection distance of 15m to 50m and a vertical FOV of 80° to 105°. This scenario is used for blind zone detection at short range.
  • FOV field of view
  • a LiDAR comprising:
  • the first transmitting unit and the second transmitting unit are respectively disposed at different positions from the transmitting lens, and the first receiving unit and the second receiving unit are respectively disposed at different positions from the receiving lens.
  • the first transmitting unit comprises a first array of lasers disposed on a focal plane of the transmitting lens; the second transmitting unit comprises a second array of lasers, a distance between the second array of lasers and the transmitting lens being less than a focal length of the transmitting lens; the first receiving unit comprises a first array of detectors disposed on a focal plane of the receiving lens; and the second receiving unit comprises a second array of detectors, a distance between the second array of detectors and the receiving lens being less than a focal length of the receiving lens.
  • the second transmitting unit comprises a focus-changing lens at the transmitting end, disposed between the second array of lasers and the transmitting lens, the second detection laser beam passing through the focus-changing lens at the transmitting end and the transmitting lens before exiting to the outside of the LiDAR;
  • the second receiving unit comprises a focus-changing lens at the receiving end, disposed between the second array of detectors and the receiving lens, the second echo passing through the receiving lens and the focus-changing lens at the receiving end before being incident onto the second array of detectors.
  • the LiDAR further comprises one or more mirrors at the transmitting end and one or more mirrors at the receiving end, the first detection laser beam being reflected by the mirror at the transmitting end and then exiting through the transmitting lens, and the first echo being reflected by the mirror at the receiving end and then being incident onto the first array of detectors.
  • the mirror at the transmitting end comprises a mirror with an opening, wherein the first detection laser beam is reflected by the mirror with the opening at the transmitting end and then exits through the transmitting lens, and the second detection laser beam passes through the opening and exits through the transmitting lens; and the mirror at the receiving end comprises a mirror with an opening, wherein the first echo is reflected by the mirror at the receiving end with the opening at the receiving end and then is incident onto the first array of detectors, and the second echo passes through the opening and is incident onto the second array of detectors.
  • the LiDAR has a rotating shaft and an opto-mechanical rotor rotatable about the rotating shaft, the opto-mechanical rotor comprising the first transmitting unit, the second transmitting unit, the optical assembly at the transmitting end, the optical assembly at the receiving end, the first receiving unit and the second receiving unit, wherein the opto-mechanical rotor is disposed above the rotating shaft, or the rotating shaft extends through the opto-mechanical rotor.
  • the optical assembly at the transmitting end comprises a first transmitting lens and a second transmitting lens
  • the optical assembly at the receiving end comprises a first receiving lens and a second receiving lens, the first detection laser beam exiting through the first transmitting lens, and the second detection laser beam exiting through the second transmitting lens; and the first echo being converged to the first detection unit through the first receiving lens, and the second echo being converged to the second detection unit through the second receiving lens.
  • the LiDAR has a rotating shaft, the first transmitting lens and the second transmitting lens being substantially 180 degree opposed about the rotating shaft, and the first receiving lens and the second receiving lens being substantially 180 degree opposed about the rotating shaft.
  • the first transmitting lens and the first receiving lens comprise a telecentric lens group.
  • the first detection laser beam and the second detection laser beam correspond to different vertical field of view ranges of the LiDAR.
  • the energy of the first detection laser beam is higher than that of the second detection laser beam.
  • the first transmitting unit and the second transmitting unit both comprise a plurality of lasers and multi-channel driving chips, the plurality of lasers and multi-channel driving chips being disposed on the same PCB; and the first receiving unit and the second receiving unit both comprise a plurality of detectors and multi-channel front-end chips, the plurality of detectors and multi-channel front-end chips being disposed on the same PCB.
  • the LiDAR further comprises a data processing unit coupled with the first transmitting unit, the second transmitting unit, the first receiving unit and the second receiving unit, and the data processing unit is used for fusing detection results of the first detection laser beam and the second detection laser beam to generate a point cloud.
  • a LiDAR according to an embodiment of the present disclosure is capable of achieving detection at short range and large vertical field of view and detection at long range and small vertical field of view while ensuring a compact structure.
  • orientation or position relations denoted by such terms as “central” “longitudinal” “latitudinal” “length” “width” “thickness” “above” “below” “front” “rear” “left” “right” “vertical” “horizontal” “top” “bottom” “inside” “outside” “clockwise” “counterclockwise” and the like are based on the orientation or position relations as shown in the accompanying drawings, and are used only for the purpose of facilitating description of the present disclosure and simplification of the description, instead of indicating or suggesting that the denoted devices or elements must be oriented specifically, or configured or operated in a specific orientation.
  • first feature is “on” or “beneath” a second feature
  • this may cover direct contact between the first and second features, or contact via another feature therebetween, other than the direct contact.
  • first feature is “on”, “above”, or “over” a second feature
  • this may cover the case that the first feature is right above or obliquely above the second feature, or just indicate that the level of the first feature is higher than that of the second feature.
  • first feature is "beneath”, “below”, or “under” a second feature
  • this may cover the case that the first feature is right below or obliquely below the second feature, or just indicate that the level of the first feature is lower than that of the second feature.
  • a plurality of transmitting units and a plurality of receiving units can be respectively provided in the LiDAR, for example, two transmitting units and two receiving units, wherein one transmitting unit and one receiving unit are used for detecting a long-range object at a smaller FOV, while the other transmitting unit and the other receiving unit are used for detecting a short-range object at a larger FOV; it has both a transmitting lens and a receiving lens, wherein different detection laser beams emitted from the plurality of transmitting units travel through different optical distances before reaching the transmitting lens, and then exit into the surrounding environment after passing through the transmitting lens, and echoes generated on the object travel respectively through different optical distances from the receiving lens before reaching different receiving units, that is, a transmit-receive pair consisting of one
  • FIGS. 4a , 4b and 4c illustrate schematic diagrams of a LiDAR 100 according to one embodiment of the present disclosure, of which FIGS. 4a and 4b illustrate an optical path structure on the transmitting side of the LiDAR, and FIG. 4c illustrates an optical path structure on the receiving side of the LiDAR.
  • FIGS. 4a , 4b and 4c illustrate schematic diagrams of a LiDAR 100 according to one embodiment of the present disclosure, of which FIGS. 4a and 4b illustrate an optical path structure on the transmitting side of the LiDAR, and FIG. 4c illustrates an optical path structure on the receiving side of the LiDAR.
  • the LiDAR 100 on its transmitting side comprises a first transmitting unit 101 and a second transmitting unit 102, wherein the first transmitting unit 101 comprises a first array of lasers disposed on a circuit board and used for emitting a first detection laser beam L1, and the second transmitting unit 102 also comprises a second array of lasers disposed on a circuit board and used for emitting a second detection laser beam L2.
  • Lasers in the first and second arrays of lasers can include a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL).
  • VCSEL vertical cavity surface emitting laser
  • EEL edge emitting laser
  • the LiDAR 100 further comprises an optical assembly at the transmitting end for modulating (e.g., collimating) the first detection laser beam L1 and the second detection laser beam L2, and then enabling them exit into the surrounding environment of the LiDAR for detecting objects.
  • the optical assembly at the transmitting end comprises a transmitting lens 103 configured to collimate the first detection laser beam L1 and the second detection laser beam L2.
  • the first detection laser beam L1 and the second detection laser beam L2 respectively exit from the first transmitting unit 101 and the second transmitting unit 102 and travel through different optical distances before reaching the transmitting lens 103, wherein an optical distance the first detection laser beam L1 travels through is, for example, longer than an optical distance the second detection laser beam L2 travels through.
  • the first transmitting unit 101 and the second transmitting unit 102 can be respectively disposed at different positions from the transmitting lens 103, for example.
  • the first array of lasers of the first transmitting unit 101 is disposed on a focal plane of the transmitting lens 103, and a distance between the second array of lasers of the second transmitting unit 102 and the transmitting lens 103 is less than a focal length of the transmitting lens 103.
  • the LiDAR further comprises a focus-changing lens at the transmitting end 104 disposed between the second array of lasers of the second transmitting unit 102 and the transmitting lens 103, the second detection laser beam L2 exiting to the outside of the LiDAR after passing through the focus-changing lens at the transmitting end 104 and the transmitting lens 103.
  • the second detection laser beam L2 undergoes a certain change in its direction or divergence after passing through the focus-changing lens at the transmitting end 104, and then incident onto the transmitting lens 103 and exits to the outside of the LiDAR.
  • the second array of lasers of the second transmitting unit 102 is located on a focal plane of a lens group consisting of the focus-changing lens at the transmitting end 104 and the transmitting lens 103, and an equivalent focal length of the lens group consisting of the focus-changing lens at the transmitting end 104 and the transmitting lens 103 is smaller than the focal length of the transmitting lens 103.
  • FIGS. 4a , 4b and 4c are not only schematic diagrams of the LiDAR 100 according to one embodiment of the present disclosure, and FIGS. 4a and 4b are also schematic diagrams of a coaxial arrangement of the first transmitting unit 101 and the second transmitting unit 102 on the transmitting side, that is, both the first transmitting unit 101 and the second transmitting unit 102 are arranged along an optical axis OO of the transmitting lens 103.
  • the coaxial arrangement of the first transmitting unit 101 and the second transmitting unit 102 can be implemented in different ways.
  • an opening can be made on the circuit board of the second transmitting unit 102, and an opening be made at the center of the focus-changing lens at the transmitting end 104, for allowing the first detection laser beam L1 to pass through. Therefore, the first detection laser beam L1 is not modulated by the focus-changing lens at the transmitting end 104.
  • the first array of lasers of the first transmitting unit 101 can be disposed relatively densely, and located substantially in a middle position of the circuit board; and the second array of lasers of the second transmitting unit 102 can be disposed relatively sparsely, and located substantially in an edge position of the circuit board.
  • the second transmitting unit 102 can also be divided into two parts spaced from each other, the focus-changing lens at the transmitting end 104 can also be divided into two parts spaced from each other, and a middle spacing region of the second transmitting unit 102 and a middle spacing region of the focus-changing lens at the transmitting end 104 can be used for allowing the first detection laser beam L1 to pass through.
  • the aforesaid embodiments can also be combined by, for example, making an opening in the middle of the circuit board of the second transmitting unit 102 and dividing the focus-changing lens at the transmitting end 104 into two parts; or vice versa.
  • microlens array MLA
  • a microlens is disposed downstream of an optical path of each laser in the second array of lasers of the second transmitting unit 102, such that the second detection laser beam L2 is modulated by the microlens and then projected to the transmitting lens 103.
  • other arrangement ways can also be conceived, which will be described in detail in the following embodiments.
  • the transmitting lens 103 can adopt a typical design for a LiDAR for long-range detection with a relatively large focal length, such that the first array of lasers of the first transmitting unit 101 is directly disposed at the focal plane of the transmitting lens 103, which can conveniently achieve high beam number and high resolution within a small FOV range.
  • One focus-changing lens at the transmitting end 104 is added at the second transmitting unit 102.
  • a focal length of the lens group consisting of the focus-changing lens at the transmitting end 104 and the transmitting lens 103 is relatively small, which is smaller than the focal length of the transmitting lens 103.
  • the first detection laser beam L1 (a long-range detection beam) and the second detection laser beam L2 (a short-range detection beam) do not overlap in the vertical field of view, and emergent lights of lasers for short-range and long-range detection have different energies.
  • the energy of the first detection laser beam L1 for long-range detection is higher than that of the second detection laser beam L2 for short-range detection.
  • the LiDAR 100 on its receiving side comprises a first receiving unit 105 and a second receiving unit 106, the first receiving unit 105 comprising a first array of detectors, and the second receiving unit 106 comprising a second array of detectors.
  • the first array of detectors and the second array of detectors can include various types of photodetectors, such as an avalanche photodiode (APD), a single photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM).
  • APD avalanche photodiode
  • SPAD single photon avalanche diode
  • SiPM silicon photomultiplier
  • a first echo L1' and a second echo L2' are respectively generated and return to the LiDAR, and are converged by a receiving lens 107 onto the first receiving unit 105 and the second receiving unit 106, and the first receiving unit 105 and the second receiving unit 106 are configured to respectively receive the first echo L1' and the second echo L2' and convert them into electrical signals for signal processing and analysis in subsequent circuits.
  • the first echo L1' and the second echo L2' respectively travel through different optical distances from the receiving lens 107 before reaching the first receiving unit 105 and the second receiving unit 106, wherein an optical distance the first echo L1' travels through is, for example, greater than an optical distance the second echo L2' travels through.
  • the first receiving unit 105 and the second receiving unit 106 can be respectively disposed at different positions from the receiving lens 107.
  • the first array of detectors of the first receiving unit 105 can be disposed on a focal plane of the receiving lens 107, and a distance between the second array of detectors of the second receiving unit 106 and the receiving lens 107 can be set to be less than a focal length of the receiving lens 107.
  • the LiDAR 100 on the receiving side, further comprises a focus-changing lens at the receiving end 108 disposed between the second array of detectors of the second receiving unit 106 and the receiving lens 107, the second echo L2' being incident onto the second array of detectors after passing through the receiving lens 107 and the focus-changing lens at the receiving end 108.
  • the second echo L2' undergoes a certain change in its direction or divergence after passing through the focus-changing lens at the receiving end 108, and then is incident onto the second array of detectors.
  • the second array of detectors of the second receiving unit 106 is located on a focal plane of a lens group consisting of the focus-changing lens at the receiving end 108 and the receiving lens 107, and an equivalent focal length of the lens group consisting of the focus-changing lens at the receiving end 108 and the receiving lens 107 is smaller than the focal length of the receiving lens 107.
  • microlens array MLA
  • a microlens array is disposed upstream of an optical path of each detector in the second array of detectors of the second receiving unit 106 to modulate the second echo L2'.
  • FIGS. 4a , 4b and 4c are not only schematic diagrams of the LiDAR 100 according to one embodiment of the present disclosure, and FIG. 4c is also a schematic diagram of a coaxial arrangement of the first receiving unit 105 and the second receiving unit 106 on the receiving side, that is, both the first receiving unit 105 and the second receiving unit 106 are arranged along an optical axis O'O' of the receiving lens 107.
  • the coaxial arrangement of the first receiving unit 105 and the second receiving unit 106 can be implemented in different ways. For example, an opening can be made on the circuit board of the second receiving unit 106, and an opening be made at the center of the focus-changing lens at the receiving end 108, for allowing the first echo L 1' to pass through.
  • the first echo L1' is not modulated by the focus-changing lens at the receiving end 108.
  • the first array of detectors of the first receiving unit 105 can be disposed relatively densely, and located substantially in a middle position of the circuit board; and the second array of detectors of the second receiving unit 106 can be disposed relatively sparsely, and located substantially in an edge position of the circuit board.
  • the second receiving unit 106 can also be divided into two parts spaced from each other, the focus-changing lens at the receiving end 108 can also be divided into two parts spaced from each other, and a middle spacing region of the second receiving unit 106 and a middle spacing region of the focus-changing lens at the receiving end 108 can be used for allowing the first echo L1' to pass through.
  • the aforesaid embodiments can also be combined by, for example, making an opening in the middle of the circuit board of the second receiving unit 106 and dividing the focus-changing lens at the receiving end 108 into two parts; or vice versa.
  • microlens array MLA
  • a microlens array is disposed upstream of an optical path of each detector in the second array of detectors of the second receiving unit 106, such that the second echo L2' passing through the receiving lens 107 is modulated by the microlens and then is incident onto the detector.
  • MLA microlens array
  • the receiving lens 107 can adopt a typical design for a LiDAR for long-range detection with a relatively large focal length, such that the first array of detectors of the first receiving unit 105 can be directly disposed at the focal plane of the receiving lens 107, which can conveniently achieve high beam number and high resolution within a small FOV range.
  • One focus-changing lens at the receiving end 108 is added in the proximity of the second receiving unit 106.
  • a focal length of the lens group consisting of the focus-changing lens at the receiving end 108 and the receiving lens 107 is relatively small, which is smaller than the focal length of the receiving lens 107. Therefore, a large FOV can be achieved, and the height of the receiving surface of the detectors will not be very high, which thus can achieve a compact structure.
  • the first array of detectors of the first receiving unit 105 for long-range detection has a sensitivity higher than that of the second array of detectors of the second receiving unit 106 for short-range detection.
  • the LiDAR illustrated in FIGS. 4a , 4b and 4c of the present disclosure is a LiDAR with a bifocal length structure, which enables the LiDAR 100 to implement the functions of short-range detection with a large vertical FOV and long-range detection with a small vertical FOV at the same time, and the height of the LiDAR does not to significantly increase.
  • two transmitting units are disposed on the transmitting side of the LiDAR, which are respectively used for emitting the first detection laser beam (for long-range detection) and the second detection laser beam (for short-range detection), and two receiving units are disposed on the receiving side, which are respectively used for receiving echoes generated by the first detection laser beam and the second detection laser beam, i.e., for long-range detection and short-range detection, respectively.
  • a transmit-receive pair consisting of one transmitting unit and one receiving unit (for long-range detection) and a transmit-receive pair consisting of the other transmitting unit and the other receiving unit (for short-range detection) correspond to different focal lengths, thereby satisfying both long-range detection and short-range detection performances of the LiDAR in a compact structure.
  • FIG. 5 illustrates a schematic top view of a LiDAR 100 according to one embodiment of the present disclosure, which also has a bifocal length structure. Unlike FIGS. 4a , 4b and 4c , FIG. 5 illustrates non-coaxial arrangement of the first transmitting unit 101 and the second transmitting unit 102, which means that they are not arranged along the optical axis OO of the transmitting lens 103, and non-coaxial arrangement of the first receiving unit 105 and the second receiving unit 106, which means that they are not arranged along the optical axis O'O' of the receiving lens 107. As illustrated in FIG.
  • the LiDAR 100 further comprises a mirror at the transmitting end 109 in addition to the first transmitting unit 101, the second transmitting unit 102, the transmitting lens 103 and the focus-changing lens at the transmitting end 104.
  • the mirror at the transmitting end 109 is located between the first transmitting unit 101 and the transmitting lens 103 and used for receiving the first detection laser beam L1, such that the first detection laser beam L1, after being reflected by the mirror at the transmitting end 109, exits through the transmitting lens 103.
  • the second detection laser beam L2 emitted by the second transmitting unit 102 is modulated by the focus-changing lens at the transmitting end 104 and then exits through the transmitting lens 103.
  • the second transmitting unit 102 and the focus-changing lens at the transmitting end 104 are disposed at such positions as to avoid the propagation path of the first detection laser beam L1, with both the first detection beam L1 and the second detection laser beam L2 pointing towards the center of the lens and exiting, and the first detection beam L1 and the second detection laser beam L2 having a relatively small angle difference in a horizontal direction (the direction of the surface of FIG. 5 is a horizontal direction, and the direction vertical to the surface is a vertical direction) (the angle difference is 0 in FIGS. 4a , 4b and 4c ).
  • the embodiment in FIG. 5 can enable the structure on the transmitting side of the LiDAR to be more compact (the height to be lower) by disposing the mirror 109.
  • the LiDAR 100 further comprises a mirror at the receiving end 110 in addition to the first receiving unit 105, the second receiving unit 106, the receiving lens 107 and the focus-changing lens at the receiving end 108.
  • the mirror at the receiving end 110 is located between the first receiving unit 105 and the receiving lens 107 and used for receiving the first echo L1', such that the first echo L', after being reflected by the mirror at the receiving end 110, is incident onto the first receiving unit 105.
  • the second echo L2' is incident onto the second receiving unit 106 after passing through the receiving lens 107 and the focus-changing lens at the receiving end 108.
  • the second receiving unit 106 and the focus-changing lens at the receiving end 108 are disposed at such positions as to avoid the propagation path of the first echo L1'.
  • the structure on the receiving side of the LiDAR can be made more compact.
  • the first receiving unit 105 and the second receiving unit 106 can share a signal processing unit.
  • one mirror is respectively disposed on the transmitting and receiving sides of the LiDAR.
  • the present disclosure is not limited to this, and a plurality of mirrors can also be arranged. Additionally, mirrors can also be arranged to change the directions of the second detection laser beam L2 and the second echo L2'. These all fall within the scope of protection of the present disclosure.
  • the array of lasers of the first transmitting unit 101 emits a light beam for long-range measuring, which is reflected once by the mirror at the transmitting end 109 and then exits through the transmitting lens 103 (the main transmitting lens).
  • the transmitting lens 103 the main transmitting lens
  • an echo is received by the receiving lens 107 (the main receiving lens), reflected once by the mirror at the receiving end 110, then detected by the array of detectors of the first receiving unit 105, and then processed by a subsequent processing unit to obtain ranging data.
  • the aforesaid detection process corresponds to long-range small-FOV detection.
  • the array of lasers of the second transmitting unit 102 emits a light beam for short-range measuring, which passes through the focus-changing lens at the transmitting end 104 and then exits through the transmitting lens 103. After the light beam for short-range measuring is reflected by an obstacle, an echo is received by the receiving lens 107, detected by the array of detectors of the second receiving unit 106 after passing through the focus-changing lens at the receiving end 108, and then processed by a subsequent processing unit to obtain ranging data.
  • the aforesaid detection process corresponds to short-range large-FOV detection.
  • the readout signals of the array of detectors of the first receiving unit 105 and the array of detectors of the second receiving unit 106 can share a signal processing unit.
  • FIG. 6 illustrates a LiDAR according to another embodiment of the present disclosure.
  • the first transmitting unit 101 and the second transmitting unit 102 are also arranged non-coaxially, that is, not arranged along the optical axis OO of the transmitting lens 103
  • the first receiving unit 105 and the second receiving unit 106 are also arranged non-coaxially, that is, not arranged along the optical axis O'O' of the receiving lens 107.
  • the LiDAR in the embodiment of FIG. 6 has a plurality of mirrors. As illustrated in FIG.
  • the LiDAR 100 further comprises a first mirror at the transmitting end 109 and a second mirror at the transmitting end 111.
  • the first mirror at the transmitting end 109 and the second mirror at the transmitting end 111 are located in sequence between the first transmitting unit 101 and the transmitting lens 103, and used for reflecting the first detection laser beam L1.
  • the first detection laser beam L1 is reflected by the first mirror at the transmitting end 109 and the second mirror at the transmitting end 111 in sequence, and then exits through the transmitting lens 103.
  • the second detection laser beam L2 emitted by the second transmitting unit 102 exits through the transmitting lens 103 after being modulated by the focus-changing lens at the transmitting end 104.
  • the first mirror at the transmitting end 109 is disposed at such a position as to avoid the propagation path of the second detection laser beam L2
  • the second mirror at the transmitting end 111 is disposed on the propagation path of the second detection laser beam L2.
  • An opening can be made on the second mirror at the transmitting end 111 to allow the second detection laser beam L2 to pass therethrough, while the remaining positions of the second mirror at the transmitting end 111 are used for reflecting the first detection laser beam L1, as illustrated in FIG. 6 .
  • the LiDAR 100 further comprises a first mirror at the receiving end 110 and a second mirror at the receiving end 112 in addition to the first receiving unit 105, the second receiving unit 106, the receiving lens 107, and the focus-changing lens at the receiving end 108.
  • the first mirror at the receiving end 110 and the second mirror at the receiving end 112 are located in sequence between the first receiving unit 105 and the receiving lens 107, and used for reflecting the first echo L1'.
  • the first echo L1' is reflected by the second mirror at the receiving end 112 and the first mirror at the receiving end 110 in sequence, and then incident onto the first receiving unit 105.
  • the second echo L2' is incident onto the second receiving unit 106 after passing through the receiving lens 107 and the focus-changing lens at the receiving end 108.
  • the first mirror at the receiving end 110 is disposed at such a position as to avoid the propagation path of the second echo L2'
  • the second mirror at the receiving end 112 is disposed on the propagation path of the second echo L2'.
  • An opening can be made on the second mirror at the receiving end 112 to allow the second echo L2' to pass therethrough, while the remaining positions of the second receiving mirror 112 are used for reflecting the first echo L 1', as illustrated in FIG. 6 .
  • the LiDAR has a rotating shaft and an opto-mechanical rotor rotatable about the rotating shaft.
  • the optical and electronic components on the transmitting and receiving ends of the LiDARs illustrated in FIGS. 4a , 4b , 4c , 5 and 6 are all integrated in the opto-mechanical rotor.
  • the opto-mechanical rotor is disposed above the rotating shaft, which means that the rotating shaft of the LiDAR does not protrude through the opto-mechanical rotor.
  • the rotating shaft does not extend into the opto-mechanical rotor, and thus can provide greater space for the opto-mechanical rotor for installing optical and electronic components, or can reduce the volume of the opto-mechanical and the volume of the LiDAR in the case of the same elements and components.
  • the present disclosure is not limited to such LiDAR with a non-through structure, and the rotating shaft of the LiDAR can also extend through the opto-mechanical rotor, as illustrated in FIG. 7b .
  • Such through-shaft structure is more conducive to rotational stability. These all fall within the scope of protection of the present disclosure.
  • the LiDAR in the embodiment of FIG. 5 has a non-through-shaft structure
  • the LiDAR in the embodiment of FIG. 6 has a through-shaft structure.
  • FIG. 8 illustrates a LiDAR 200 according to another embodiment of the present disclosure.
  • a first detection laser beam and a second detection laser beam emitted by a first transmitting unit and a second transmitting unit of the LiDAR respectively exit after passing through different transmitting lenses.
  • a first echo and a second echo are respectively received by a first receiving unit and a second receiving unit after passing through different receiving lenses.
  • a transmit-receive pair consisting of the first transmitting unit and the first receiving unit (for long-range detection) and a transmit-receive pair consisting of the second transmitting unit and the second receiving unit (for short-range detection) correspond to different focal lengths, as described below in detail referring to FIG. 8 .
  • the LiDAR 200 on the transmitting side comprises a first transmitting unit 201 and a second transmitting unit 202, configured to respectively emit a first detection laser beam L1 and a second detection laser beam L2 to detect objects.
  • An optical assembly at the transmitting end comprises a first transmitting lens 203-1 and a second transmitting lens 203-2, used respectively for modulating the first detection laser beam L1 and the second detection laser beam L2, and then enabling them to exit to the outside of the LiDAR 200.
  • the LiDAR 200 on the transmitting side further comprises a first mirror at the transmitting end 209 and a second mirror at the transmitting end 211, disposed in sequence between the first transmitting unit 201 and the first transmitting lens 203-1, and used for reflecting the first detection laser beam L1 in sequence.
  • first mirror at the transmitting end 209 and the second mirror at the transmitting end 211 are not necessary, and it is also possible not to install the mirror at the transmitting ends, or other numbers of mirror at the transmitting ends can be provided as long as the requirements of an optical path and the layout requirements of a mechanical structure can be met.
  • the second detection laser beam L2 emitted by the second transmitting unit 202 is directly incident onto the second transmitting lens 203-2, and exits after modulation (e.g., collimation).
  • modulation e.g., collimation
  • One or more mirrors can also be disposed between the second transmitting unit 202 and the second transmitting lens 203-2. These all fall within the scope of protection of the present disclosure.
  • the first transmitting lens 203-1 and the second transmitting lens 203-2 are substantially 180 degrees opposed about the rotating shaft of the LiDAR (as illustrated by the black circle in FIG. 8 ). With the structure in FIG. 8 , the optical path structure used for short-range detection and the optical path structure used for long-range detection are independent of each other.
  • the structure in FIG. 8 may be installed and adjusted in a more convenient manner. Additionally, relative arrangement at 180 degrees can facilitate design and subsequent signal processing, and the data on short-range and long-range detection have an angle difference of 180 degrees in the horizontal direction.
  • the first transmitting unit 201 is arranged, for example, on a focal plane of the first transmitting lens 203-1, and the second transmitting unit 202 is arranged, for example, on a focal plane of the second transmitting lens 203-2.
  • the LiDAR 200 on the receiving side comprises a first receiving unit 205 and a second receiving unit 206, configured to respectively receive a first echo L 1' and a second echo L2' of the first detection laser beam L1 and second detection laser beam L2 reflected by the objects, and convert them into electrical signals.
  • a optical assembly at the receiving end comprises a first receiving lens 207-1 and a second receiving lens 207-2, used respectively for receiving the first echo L1' and the second echo L2'.
  • the first receiving lens 207-1 can be arranged next to the first transmitting lens 203-1
  • the second receiving lens 207-2 can be arranged next to the second transmitting lens 203-2.
  • the LiDAR 200 on the receiving side further comprises a first mirror at the receiving end 210 and a second mirror at the receiving end 212, disposed in sequence between the first receiving unit 205 and the first receiving lens 207-1, and used for reflecting the first echo L1' in sequence.
  • first mirror at the receiving end 210 and the second mirror at the receiving end 212 are not necessary, and it is also possible not to install the mirror at the receiving ends, or other numbers of mirror at the receiving ends can be provided as long as the requirements of an optical path and the layout requirements of a mechanical structure can be met.
  • the second echo L2' is directly converged to the second receiving unit 206 after passing through the receiving lens 207-2, and converted into an electrical signal.
  • first receiving lens 207-1 and the second receiving lens 207-2 are substantially 180 degree opposed about the rotating shaft of the LiDAR (as illustrated by the black circle in the center of FIG. 8 ).
  • the first receiving unit 205 is arranged, for example, on a focal plane of the first receiving lens 207-1
  • the second receiving unit 206 is arranged, for example, on a focal plane of the second receiving lens 207-2.
  • the LiDAR 200 illustrated in FIG. 8 can be in a through-shaft structure, or in a non-through-shaft structure, and preferably in a non-through-shaft structure.
  • the first detection laser beam L1 and the second detection laser beam L2 respectively exit from the first transmitting unit 201 and the second transmitting unit 202, and travel through different optical distances before reaching the first transmitting lens 203-1 and the second transmitting lens 203-2.
  • the first echo and the second echo respectively travel through different optical distances from the receiving lens before reaching the first receiving unit and the second receiving unit.
  • the first transmitting lens 203-1 for example, has a relatively large focal length
  • the first receiving lens 207-1 for example, has a relatively large focal length, both combined with the first transmitting unit 201 and the first receiving unit 205 for long-range small-FOV detection
  • the second transmitting lens 203-2 for example, has a relatively small focal length
  • the second receiving lens 207-2 for example, has a relatively small focal length, both combined with the second transmitting unit 202 and the second receiving unit 206 for short-range large-FOV detection.
  • the lasers in the first transmitting unit 201 and the second transmitting unit 202 include a vertical cavity surface emitting laser (VCSEL) configured to emit light in a direction vertical to a PCB.
  • the detectors (arrays) in the first receiving unit 205 and the second receiving unit 206 include a single photon detector, such as SiPM or SPAD array.
  • photoelectric devices used for short-range detection and photoelectric devices used for long-range detection can share a rotating platform for performing power supply and signal transmission in a wireless manner.
  • the LiDAR 200 is in a non-through-shaft structure (as illustrated in FIG. 7a ), that is, the rotating shaft of the LiDAR does not protrude from the rotor, in order to increase the space of the rotor to accommodate the short-range measuring module and the long-range measuring module.
  • the first transmitting lens 203-1 and the first receiving lens 207-1 are preferably a telecentric lens group, for example, as illustrated in FIG. 9 , which can reduce the overall lens height and make the structure more compact.
  • a first field lens 213 can be disposed downstream of the optical path of the first transmitting unit 201 in the proximity of the focal plane of the first transmitting lens 203-1, and a second field lens 214 can be disposed upstream of the optical path of the first receiving unit 205 in the proximity of the focal plane of the first receiving lens 207-1.
  • the first transmitting lens 203-1 and the first receiving lens 207-1 for long-range detection have a long focal length, and a small vertical field of view
  • the second transmitting lens 203-2 and the second receiving lens 207-2 for short-range detection have a short focal length, and a large vertical field of view.
  • the focal plane heights of the two can be relatively close. Therefore, the height difference between the optical paths for long-range detection and short-range detection is not significant, enabling the overall height of the LiDAR to be very compact and reasonable.
  • the driving circuits of the array of lasers of the first transmitting units 101, 201 and the second transmitting units 102, 202 can be integrated on a chip (a multi-channel driving chip) respectively.
  • a chip a multi-channel driving chip
  • the array of lasers includes 8 lasers, with the driving circuits of every 4 lasers integrated onto one multi-channel driving chip, the array of lasers thus correspond to two multi-channel driving chips, and a plurality of lasers and the corresponding multi-channel driving chips are disposed on the same PCB, as illustrated in FIG. 10a .
  • the readout circuits of the array of detectors of the first receiving units 105, 205 and the second receiving units 106, 206 are also integrated to a chip (a multi-channel analog front-end chip).
  • the array of detectors includes 32 detectors, with the readout circuits of every 16 detectors integrated to one multi-channel analog front-end chip, the array of detectors thus correspond to two multi-channel analog front-end chips, and a plurality of detectors and the multi-channel analog front-end chips are disposed on the same PCB, as illustrated in FIG. 10b .
  • the space occupied by the circuit part in the rotor can be further reduced, which is more conducive to accommodating the short-range and long-range measuring modules, enabling the LiDAR structure to be more compact.
  • the LiDAR of the present disclosure can also comprise a data processing unit coupled with the first and second transmitting units and the first and second receiving units, and fusing detection results of the first and second detection laser beams to generate a point cloud.
  • the present disclosure adopts a bifocal length separation design, which satisfies both long-range detection at high resolution and small FOV, and short-range detection at low resolution and large FOV, while enables the heights of the lasers and detectors not to be increased significantly, and the structure to be compact, being conducive to the installation of the LiDAR on a vehicle.
  • the LiDAR according to the embodiment of the present disclosure integrates both large-FOV short-range detection and small-FOV long-range detection.
  • a large-FOV short-range detector is not necessarily at the same focal length as a long-range measuring detector, thereby enabling the height of the detector panel to be reduced greatly.
  • light beams of the two short-range and long-range measuring are emitted from the same set of transmit-receive main lenses. Therefore, the horizontal angle difference between the short-range and long-range detection will be very small, the time difference between the short-range and long-range detection in scanning the same object will be very small, and the point clouds of the short-range and long-range detection will be fused more easily.
  • the present disclosure proposes a solution that can satisfy both small-FOV long-range detection and large-FOV short-range detection.
  • a focus-changing structure is adopted, so that it does not need to be at the same focal length as a long-range measuring detector, thereby greatly reducing the height of the large-FOV short-range measuring detector panel, and thereby enabling the height of the LiDAR not necessarily to be made very high and increasing the compactness of the overall structure.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
EP21939068.9A 2021-04-25 2021-12-15 Radar laser Pending EP4310537A4 (fr)

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CN202110446511.6A CN115327551A (zh) 2021-04-25 2021-04-25 激光雷达
PCT/CN2021/138323 WO2022227609A1 (fr) 2021-04-25 2021-12-15 Radar laser

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US8107056B1 (en) * 2008-09-17 2012-01-31 University Of Central Florida Research Foundation, Inc. Hybrid optical distance sensor
CN106291509B (zh) * 2016-10-12 2019-05-17 北京万集科技股份有限公司 激光雷达光学系统
KR20220119769A (ko) * 2017-07-28 2022-08-30 옵시스 테크 엘티디 작은 각도 발산을 갖는 vcsel 어레이 lidar 송신기
US20190310353A1 (en) * 2018-04-04 2019-10-10 Deepwater Optoelectronics Co. Ltd Lidar system and laser ranging method
US11333748B2 (en) * 2018-09-17 2022-05-17 Waymo Llc Array of light detectors with corresponding array of optical elements
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CN115327551A (zh) 2022-11-11
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US20240053444A1 (en) 2024-02-15
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